Active Ground Vehicle Control with use of a Super-Twisting Algorithm in the Presence of Parameter Variations

L. Etienne 1, 2 S. Digennaro 2 Jean-Pierre Barbot 3, 1
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.
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L. Etienne, S. Digennaro, Jean-Pierre Barbot. Active Ground Vehicle Control with use of a Super-Twisting Algorithm in the Presence of Parameter Variations. 3d International Conference on Systems and Control (ICSC13), Oct 2013, Alger, Algeria. ⟨hal-00923757⟩

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